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DresnerRobotics
06-27-2008, 03:57 PM
While I'm basing my Mech off of Mechwarrior's Vulture (Mad Dog) for some reason Mad Dog just wasn't that appealing of a name to me... so I went with a bit more obscure Mechwarrior lore reference: Hagetaka.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/pict2794.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/pict2792.jpg



http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010062.jpg





http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010068.jpg




Version 2 Upper Torso Chassis:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/torsoprototype.jpg

Still a lot of work to go! I'll keep updating this post with my progress.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka-12.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka-21.jpg

tom_chang79
06-29-2008, 08:48 PM
Looks great Tyberius! You can always opt for the Clan names of the mechs,

Mad Dog = Vulture

Mad Cat = Timber Wolf

I personally like the Clan names, was never really a fan of IS names...

Oh yeah, you might want to consider using the brackets between the hip servos like in the humanoid for better structural integrity...

DresnerRobotics
06-29-2008, 09:05 PM
Planning on dropping a servo in between the hip servos for torso rotation.

Hagetaka is what the Draconis Combine nicknamed the Vulture when they first encountered it, Japanese for of course, "Vulture"

tom_chang79
06-30-2008, 09:39 AM
So is your Bioloid currently in a humanoid configuration or as Hagetaka?

DresnerRobotics
06-30-2008, 10:25 AM
So is your Bioloid currently in a humanoid configuration or as Hagetaka?

Humanoid until this weekend, figured I would play around with a the stock humanoid for a little bit until I tore it apart to rebuild it.

MYKL
06-30-2008, 02:12 PM
That looks fun Tyberius.

The Bioloid set is looking more and more interesting to me...

^_^

tom_chang79
07-01-2008, 02:32 AM
The AX-12+ are quite torqy (low 200 oz-in if I remember correctly), and without too many metal parts inside, the unit is actually pretty darn light...

I think if you made a chicken walker/scout out of it, it would leave more room for weapons (airsoft bb canons) since it's no longer carrying a shoulder, elbows, hands like a humanoid.

Still, an Atlas in the BT world is... an Atlas! What can I say! My favorite 100-ton mech has always been "Stone Rhino" Freaking thing is a tank!

DresnerRobotics
07-01-2008, 02:59 AM
I'm trying to leave it as light-weight as possible, for future expansion of rocket packs on the shoulders.

Keep in mind the AX-12s get almost 275oz/in torque running on a 3s LiPo (which they do no prob)

DresnerRobotics
07-01-2008, 11:17 AM
Some renders of the initial foot design, going to make the base where the ankle will mount in a bit larger. These are going to be stamped out of 3/16" aluminum.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/isoconcept2_topdown.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/iso_concept_2.jpg

^ Left toe edge wouldn't draw properly for some reason.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/iso_concept2_back.jpg

DresnerRobotics
07-03-2008, 02:14 AM
Tore apart the stock humanoid, done playing with it and I need to get a move on with my Mech.

Lower torso and legs are done, keeping it simple. I have the upper torso frame almost completed in CAD, just need to get it CNC'd.

Pictures updated in first post, and in My Gallery (http://forums.trossenrobotics.com/gallery/browseimages.php?do=member&imageuser=1492)

JonHylands
07-03-2008, 08:33 AM
Very nice, man. I like the knee extensions - adds a nice touch...

DresnerRobotics
07-06-2008, 12:31 AM
So, I got my original leg design walking last night... and realized the entire thing simply would not work. It was walking, but the upper torso (basically just the CM-5 at this point) was having to tilt from side to side *heavily* in order to maintain a vertically aligned COG. This is fine for most walkers, but I realized once I had the upper torso installed with weapons and camera... it would be even larger and heavier, making it that much harder to balance well. Not to mention trying to pilot the mech with the torso tilting back and forth like its on stormy seas is going to make it quite difficult to pilot.

So I thought, how can I make it so the torso doesnt have to tilt in order to shift the weight? Well, lucky for me, Jon Hylands is a fricken genius. He had already thought about this exact problem and solved it in the design of his MicroRaptor. Rather than tilt the torso to stay above the weight bearing leg, bring the leg underneath the torso! This obviously requires longer legs, which have been implemented in the MicroRaptor design.

So all in all, with Jon's blessing I set out to mimic his leg design. I made a few very slight adjustments to placement and added the extended knee as with my previous design to give it a bit of unique aesthetic flair, but more or less it is the same leg design.

Massive kudos to Jon for pioneering non-humanoid biped walking gaits and leg design!

Pictures have been updated on my first post and my gallery.

4mem8
07-06-2008, 02:53 AM
Nice looking leg design Tyberius, looks natural, look forward to seeing a video when time permits.

Adrenalynn
07-06-2008, 04:55 AM
Can't wait to see it in action!

You know, I can visualize a "steadycam" design for the camera and the gun. It would add at least ((cam+gun)/4) weight to be effective, but could potentially even allow for run-and-gun...

4mem8
07-06-2008, 01:14 PM
Nice idea Adrenalynn, Are you working on it??What do you think the weight factor would be?.

Adrenalynn
07-06-2008, 01:43 PM
I'm not doing a mech, so I'd just think it through for someone else if they were interested.

Weight-factor posted, but actual weight would depend upon the gun and camera...

Zenta
07-06-2008, 03:33 PM
Hi,

Your Mech looks awesome Tyberius!
I've to tried out the Bioloid kit one time ;)

Making a biped walk properly can't be an easy task anyway LOL.
I bet you'll get it right at the end!
Also looking forward to see some vids!

-Zenta

tom_chang79
07-07-2008, 03:07 PM
Pics, pics, vids, vids! :)

DresnerRobotics
07-07-2008, 03:19 PM
Pics were updated on my initial post :P

Vids will come as soon as I get the walking gait down pat. I had to start over from scratch with the new leg design and while it is much more stable and has more potential, it's still hard to program custom gaits using the Bioloid stock software. I'd suggest to anyone looking into the bioloid system to research other options for control... while the stock software is certainly an excellent learning tool I can't see it being useful for Mech Wars.

ScuD
07-08-2008, 03:11 AM
Question regarding the Bioloid system; is it possible to move the servo's to a desired position by hand, and then read out the values of the servo's?

I've glanced over the manual quickly (at work) and thought i'd seen something like that.

Does it give you a way of recording "snapshot" poses and seam them together, or am i missing something obvious?

Adrenalynn
07-08-2008, 03:15 AM
As I understand it, forward kinematics is absolutely doable. In fact, I believe Tyb. was doing exactly that the other night. It's tedious though because they need to be powered down to position them, and like any servo, that leads to a collapse.

JonHylands
07-08-2008, 03:21 AM
Yes - that is how I do my own pose sequencing. You have to set the torque enable flag to zero (control table location 24) to be able to move them by hand, and then set it back to one to allow controlled movement.

Adrenalynn
07-08-2008, 03:22 AM
Can you set that flag per-joint? That sounds like it would prevent the support issues that I was under the impression Tyb. was experiencing?

ScuD
07-08-2008, 03:35 AM
Since it involves writing to a register, I'd say yes?

Still doesn't solve the issues of dynamic stability though, but it does seem damn handy.. i think i'll implement this on my hex as well, after i get a mech walking that is :rolleyes:

Is there a smooth transition between two "snapshots" or is it just a move of every servo at their given speed?

JonHylands
07-08-2008, 03:56 AM
If you are writing your own software to do pose sequencing (as I did), then yes, you can set the flag per servo. I have a checkbox on my GUI that allows me to "freewheel" all the servos on one leg, so I can manipulate them, while keeping the rest of the body rigid.

I don't really know how the Robotis software works, since I have never used it...

dcalkins
07-08-2008, 04:16 AM
RoboNova SW works the same way.

You turn servos on/off w/a checkbox, position as you desire, and turn back on to capture position. This works well, but still isn't a GUI with physics, which would work better.

In the end, being lucky enough to own all major brands of humanoids - they all have their plusses and minuses. It's like looking for a date - depends on what you consider important as to which bot to buy... Owning the KHR1, Pirkus, RoboNova, RoboPhilo, BioLoid, and Futaba, I'd say they all have strength and weaknesses. I consider the RobONova to be the best overall value for the dollar, but YMMV.

DresnerRobotics
07-08-2008, 08:42 AM
You can turn individual servos on/off, multiple servos on/off (one by one), and all servos on/off (all at once).

All on/off is easy to do, but then your bot basically collapses. You can turn individual servos on/off, but its a 3 click process to turn each one off, and another 2 clicks to turn them back on. That may not seem like a lot, but it really gets tedious after awhile.

There is no function to create groups (ie: left leg servo) and turn those on/off, which would make developing walking gaits much easier. Overall I can't see the stock software being of any use for me for the Mech Wars contest, it is a nice learning tool though and you could use it to develop your gaits to use in later programs (given you find a way to export, aside from screenshotting and manually importing)

trey3670
07-08-2008, 12:03 PM
If you are writing your own software to do pose sequencing (as I did), then yes, you can set the flag per servo. I have a checkbox on my GUI that allows me to "freewheel" all the servos on one leg, so I can manipulate them, while keeping the rest of the body rigid.

I don't really know how the Robotis software works, since I have never used it...

Is this your own custom gui? I would be intrested in one like you are talking about that works with robotis hardware:veryhappy:

A-Bot
07-08-2008, 12:36 PM
I consider the RobONova to be the best overall value for the dollar, but YMMV.

I'm surprised to hear that... the Bioloid costs less and has a much better servo spec. :robotindifferent:

JonHylands
07-08-2008, 12:54 PM
Is this your own custom gui? I would be intrested in one like you are talking about that works with robotis hardware:veryhappy:

Yes, this is one I've written.

You can see some screenshots of it here:

http://www.bioloid.info/tiki/tiki-index.php?page=MicroRaptor+Screenshots

There is also a small movie of it here, showing a couple of its features:

http://www.bioloid.info/tiki/tiki-download_file.php?fileId=73

In general, if we want to talk about MicroRaptor or its GUI, we should probably move over to my thread (http://forums.trossenrobotics.com/showthread.php?t=1937)...

- Jon

DresnerRobotics
09-27-2008, 01:13 AM
Well, received my custom lasercut ABS frames for the upper torso today. I'm working on adding full pan/tilt to the upper torso, so I haven't mounted it quite yet. More pictures to come.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/pict3731.jpg

4mem8
09-27-2008, 02:37 AM
looking very cool Tybrius very cool, Looking forward to seeing this mech finished and programmed. good work.

DresnerRobotics
09-27-2008, 03:16 AM
Here's more. I added a tilt function to my upper torso, so now I have full pan/tilt for aiming. Upper torso is a lot lighter than I though, used 1/8" ABS for it. Entire upper torso minus weapons weighs about 100g.

Few more pics. Need to replace the feet with much larger/wider versions before I start working on the walking gait. After that I'll look into adding armor panels so it doesn't look so bare.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka1.jpghttp://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka2.jpghttp://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka3.jpghttp://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka4.jpg

4mem8
09-27-2008, 04:07 AM
Cooler still Tyberius, Awesome work.

Adrenalynn
09-27-2008, 05:23 AM
Time to strip, caulk, and repaint those window frames... :tongue:

DresnerRobotics
09-27-2008, 09:11 AM
Time to strip, caulk, and repaint those window frames... :tongue:

Old house, renting, don't care :p

gdubb2
09-27-2008, 09:35 AM
Hey Tyberius,

Very nicely done, I like it !!

How do the guns attach to the framework ? :rolleyes:

Good job
Gary

4mem8
09-27-2008, 01:47 PM
gdubb2: Looks like the alloy rods have end caps with the flange and bolted to the frame/cage which in turn move up and down with the cage pan/tilt.

4mem8
09-27-2008, 01:59 PM
Hey Tyberius, Amp posted this for his finger pressure pads, How would this fair in our mech wars for pressure hit plates, these could be concealed a lot better than external hit plates, just a thought. It's just whether the force would be enough from a BB to register the hit.
http://www.tep.org.uk/millennium_smart_qtc.html

DresnerRobotics
09-28-2008, 10:02 AM
Hey Tyberius,

Very nicely done, I like it !!

How do the guns attach to the framework ? :rolleyes:

Good job
Gary

Right now I'm just using HUB-08s and aluminum tubing from Lynxmotion, with some creative use of industrial double sided sticky tape to mount the guns to the hubs. I'll probably just drill out mounting holes on the gun for a final solution, but for now I'm getting everything adjusted.

4mem8
09-28-2008, 11:53 AM
So, Tyberius, What do you think of the pressure plates??

Adrenalynn
09-28-2008, 12:10 PM
Silly-complicated with no advantage over piezo in this application...

DresnerRobotics
09-28-2008, 01:32 PM
So, Tyberius, What do you think of the pressure plates??

Unfortunately I don't see an advantage over the piezo setup, as using the pressure plates is more complicated than adding a piezo element to the back of a thin piece of plastic.

Input like this is always appreciated though!

Enusi Malik
09-28-2008, 06:53 PM
That's awesome, can't wait for the finished product. I would of never thought a Bioloid set can be made to look so good.

DresnerRobotics
09-29-2008, 06:39 PM
Here are some better quality/lighting ones I took.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010062.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010064.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010065.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010068.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010071.jpg

GWJax
09-29-2008, 06:45 PM
Now that is sweet Tby!!!!! great job! keep it up.
Jax

Zenta
09-29-2008, 11:53 PM
Nice work Tyberius!

Looking really cool and very well made.

-Zenta

DresnerRobotics
09-29-2008, 11:57 PM
Thanks Zenta and GW! I think it'll look a lot better once it has a set color scheme, armor plates and the new feet fitted. Right now its feet look kinda small.

4mem8
09-29-2008, 11:57 PM
Great job Tyberius, As always you excel in this area. Love your creations.

4mem8
09-30-2008, 12:00 AM
Silly-complicated with no advantage over piezo in this application...


Adrenalynn:, I have not had much experience [You can tell] with these sensors, so it was just a thought, It seems I have had my hand slapped. Point taken, NO more silly questions. :o

DresnerRobotics
09-30-2008, 12:05 AM
I think she meant the sensor itself was silly-complicated for what it was, not to call you silly ;)

4mem8
09-30-2008, 12:16 AM
I know that Tyb, She has a good sense of humor, maybe I should refrase it, Naw, Adrenalynn knows what I meant to say.

elios
09-30-2008, 12:28 AM
neway, that bipedal robot of yours is looking pretty fancy

DresnerRobotics
11-13-2008, 03:04 PM
Hagetaka v2 is coming....

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/rx-64s.jpg


First order, many more parts to come. :)

Adrenalynn
11-13-2008, 03:21 PM
Drool. 'nuff said.

GWJax
11-13-2008, 04:44 PM
gimmy gimmy gimmy, Wow I would love to have those hehe
Jax

4mem8
11-13-2008, 05:06 PM
Oh Tyberius, Now I am going to have to send my army of skynet bots to destroy you for those servos, And you think I'm kidding!

Sienna
11-13-2008, 06:25 PM
It must be nice having sponsors!!

*shaded green with envy*

DresnerRobotics
11-13-2008, 09:25 PM
Pffft, this is coming out of pocket :P

darkback2
11-13-2008, 10:40 PM
This definitely won't qualify as a junkbot.:p

billyzelsnack
11-13-2008, 11:31 PM
Your stack of servos makes my stack of $25 servos cry.

4mem8
11-13-2008, 11:45 PM
billyzelsnack: Your stack of servos would fit into one of Tyb's box's, Ha ha.

Adrenalynn
11-14-2008, 12:16 AM
My monthly house payment would fit into one of Tyb's servo boxes and there'd still be room for Billy's tearie servos. :tongue:

4mem8
11-14-2008, 12:37 AM
Ha ha, How true Adrenalynn how true.

DresnerRobotics
11-14-2008, 12:48 AM
When I'm done I'm looking at [14x] RX-64s and [2x] RX-28s.

All the brackets are being custom machined at Big Blue Saw (http://www.bigbluesaw.com).

Upper torso is being redesigned as well, I'm not happy with the current aesthetic, so we'll see what I come up with.

Oh yes, and much more weaponry. :D

4mem8
11-14-2008, 12:58 AM
Sounds so cool Tyberius. look forward to seeing the pics of construction.

GWJax
11-14-2008, 09:38 AM
Did I hear that right Tyb more wepons! care to share in what you have planed? or is this Top Secret like some of ours are?

Jax

sthmck
12-10-2008, 07:57 PM
Hey tyb, you just waiting for your brackets to come in, or are you just waiting till the last minute to show everyone your new mech?

DresnerRobotics
12-10-2008, 08:09 PM
I'm still waiting on a few parts from Robotis to finalize my 'wide brackets' (for the double servo joints). After that its just a matter of sending in the CAD files to get the brackets machined.

Resilient
12-17-2008, 01:44 AM
I think the only thing this is missing is jump jets. :P

DresnerRobotics
01-18-2009, 02:42 AM
So I'm furiously working away to get v2 of Hagetaka built. I'm waiting on the my final Robotis order to get everything in, then I can make a final measurement and send my brackets off to be milled.

Here's a prototype drawing and video of the completely redesigned upper torso chassis. It will have lexan armor panels covering all of it when it is finished, which will change the outer appearance a bit, but this is mostly how it will look. Also, a sensor turret will be mounted underneath the nose.

Video Link: http://www.trossenrobotics.com/testfiles/TorsoChassis.wmv


http://forums.trossenrobotics.com/gallery/files/1/4/9/2/torsoprototype.jpg

Quantum
01-18-2009, 02:49 AM
is it being cut them you fold them?

DresnerRobotics
01-18-2009, 02:50 AM
I won't actually be folding anything on the torso itself, I just used flanges on the drawing for a quick fill-in.

The brackets and chassis are being machined at Big Blue Saw (http://www.bigbluesaw.com), and they're taking care of the bends for all the brackets as well.

Quantum
01-18-2009, 02:55 AM
big blue saw are thay a complete machine shop?

DresnerRobotics
01-18-2009, 02:58 AM
They do waterjet & laser cutting, as well as limited brake services for bending. They're pretty affordable though and have no minimum order quantity, which is really nice for individual hobbyists.

Here's a freehanded foot design I'll be using. Need to actually measure this one out once I finish my final 'wide' bracket for the ankle.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/footproto.jpg

Quantum
01-18-2009, 03:03 AM
I used these guys to make some kits for me. i didnt know that they did brake work as well. that is one tough piece to make.

DresnerRobotics
01-18-2009, 03:08 AM
I might end up having the foot stamped, or just redesign it so it can realistically be bent via brake. Like I said, it was just something I freehanded in Inventor.

I'm not entirely sure on how much braking work Big Blue Saw does, you can certainly ask them. Its not a listed service on their site, but they're sponsoring my mech project so its something we had discussed as a need for the project.

Adrenalynn
01-18-2009, 03:12 AM
That flange on the side is the only thing that makes it tough to bend. I'd throw it on the bead roller and roll a bead there instead. ;)

gdubb2
01-18-2009, 11:26 AM
Looking good..

Gary

DresnerRobotics
01-18-2009, 09:34 PM
Autodesk inventor discussion moved here: http://forums.trossenrobotics.com/showthread.php?t=2815

MSpurk
01-19-2009, 08:23 PM
What sensors are you adding in the "sensor turret"?

-Matt-

DresnerRobotics
01-19-2009, 08:29 PM
Most likely a high end ultrasonic and a Devantech TPA81 Thermopile array, depending on how well it performs for my intended application. I might also go the (homemade) LIDAR route.

DresnerRobotics
01-24-2009, 10:52 PM
Here's an update on a few things, final parts arrive monday... this will allow me to make all final measurements and slight tweaks to my brackets and get them sent off to the shop.

Here are the brackets I've designed for the RX-64s, once I finalize these all of the Inventor part files as well as .DXF will be published in the downloads section for anyone to use.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/rx-64s2.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/rx-64hxw_148700.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/rx-64s45.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/rx-64hxl.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/footproto3_102723.jpg

4mem8
01-25-2009, 01:07 AM
Very very nice Andrew, keeping an eye on you, ha ha.

Obscene
01-25-2009, 12:53 PM
I always did have a fondness for the Mechwarrior games and the design of the Mechs themselves. That thing sure is going to look sick turkey-walking around, blasting everything. I actually can't wait to see what this turns out like. All of the full metal design, inverted legs, turrets, cannons, and RX-64's.. My God.. :eek:

DresnerRobotics
01-26-2009, 04:15 PM
/whistles

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dscn1704.jpg (http://forums.trossenrobotics.com/gallery/files/1/4/9/2/dscn1704_original.jpg)

gdubb2
01-26-2009, 05:27 PM
OOooohhhhh...AAaaahhhhhh...Drooooollllll

Adrenalynn
01-26-2009, 05:56 PM
RoboPr0n Alert!

I may have to issue you a warning. . .

Dementedwombat
01-26-2009, 06:38 PM
:robotsurprised:
That is a pile of pure awesome!

It probably costs more than my entire net worth at the moment.

sthmck
01-26-2009, 08:08 PM
RoboPr0n Alert!

I may have to issue you a warning. . .

ah I see naked robot parts.

Adrenalynn
01-26-2009, 08:40 PM
Yeah, and they have large.... Torques of Land.

Sienna
01-27-2009, 06:30 AM
How nice it must be to have corporate sponsors!

Well, at least this will prove or disprove whether the strongest bot wins!

Adrenalynn
01-27-2009, 06:46 AM
Actually - I know for a fact that those servos came out of his pocket. I've been hearing him whine/drool/whine/drool for a month and a half waiting for 'em. ;)

Zenta
01-27-2009, 10:15 AM
WOW, oh my god!

Ok, this hobby are getting VERY serious!

BTW stop showing off all these porn pics...





..eh wait, no don't stop...

Can't wait to see them put together!

-Zenta

MSK Mech Commander
01-27-2009, 08:20 PM
:robotsurprised:
1) Take. It. Easy.:robotindifferent:

2) If your model becomes a huge success, will you make it a kit and sell it?:D

3) Final point. Overkill.:robotindifferent:

4) BTW, how much did you spend to buy those anyway?(Don't brag)

Adrenalynn
01-27-2009, 09:56 PM
Given the going rate for 'em, I think we can safely assume we're looking at about $4500 in servos, I count 14 x RX-64 and 2x RX-28's.

DresnerRobotics
01-27-2009, 10:02 PM
Bearings, mounting hardware, thrust bearings, and other little machined gizmos bring it up to about 5 grand. That stuff adds up fast.

sthmck
01-28-2009, 12:40 PM
I was just wondering. How thick are the brackets that you are getting made going to be?

DresnerRobotics
01-28-2009, 01:24 PM
2mm 5052 Aluminum.

Dementedwombat
01-28-2009, 01:25 PM
So, do you have a paint scheme planned for this thing?

DresnerRobotics
01-28-2009, 01:52 PM
My plan is to have a couple different sets of Lexan armor panels that I can switch around to, each with a different color scheme.

A_Clawson
02-27-2009, 11:57 AM
How did you mount the guns?

DresnerRobotics
02-27-2009, 01:17 PM
Dremel, drill, and screws.

whichwayisup
02-27-2009, 03:33 PM
Any progress pictures yet?

vertex
03-05-2009, 11:54 AM
In all seriousness that is very cool.

DresnerRobotics
03-05-2009, 03:46 PM
Thanks guys!

Had a few delays on the parts regarding all the bending, they're on their way as of today.

Also ordering batteries, charger, and the vision/sound system.

Here's the camera and wifi encoder I'm using:

http://emonitoringsolutions.com/shopping/product_info.php?cPath=27_28&products_id=38

http://www.supercircuits.com/IP-Video-Encoders/1-Channel-Encoders/IPE1W

sthmck
03-05-2009, 10:07 PM
How good is that camera/encoder combination?

DresnerRobotics
03-05-2009, 10:09 PM
We'll see on Monday =)

The camera is excellent, near HD quality. It's the wifi encoder that will be the determining factor... but supposedly it'll do 480 lines @ 30fps no problem.

DresnerRobotics
03-06-2009, 02:20 PM
Parts are in, looks like I have a busy weekend ahead of me. BIG THANKS to Simon at Big Blue Saw (http://www.bigbluesaw.com). The quality on these parts is amazing.

Pic is below, there are numerous spare parts which is why you see 3 feet. No tripod for me ;)

Many more updates to come.

Adrenalynn
03-06-2009, 02:39 PM
Big Blue Saw (http://www.bigbluesaw.com) did a great job for you - from a machining/waterjet cutting/aluminum metal working perspective, those aren't simple pieces!

(Hopefully Simon will appreciate the keyword density... ;))

DresnerRobotics
03-06-2009, 03:08 PM
Here's the ankle pieced together.

Zenta
03-06-2009, 03:18 PM
Wow :robotsurprised: ! Awesome parts Tyberius!
Can't wait to see them together with the servos.

Zenta
03-06-2009, 03:33 PM
LOL, my last post came out a little wrong since you've already posted a picture of the brackets with the servo.

Looking good, large and heavy. Have you estimated the final weight for the mech?

DresnerRobotics
03-06-2009, 03:45 PM
Probably going to be around the 4kg range.

DresnerRobotics
03-06-2009, 04:07 PM
Here's another quick update, I'll be dropping pics here and there throughout the night :)

Obscene
03-06-2009, 08:12 PM
The anticipation is killing me! But seriously, those parts are brilliant. Can't wait to see this monster.

CogswellCogs
03-06-2009, 09:27 PM
Both the foot and the body frame look fantastic ! I can glean the construction of the frame from the photo, but I have some questions about the foot, please.

First, how thick is the bracket and foot material ? 1/16" (~14Ga) ?

Second, I'm curious about the bracket that runs the length of the foot. Is that one of your custom brackets, or a standard Robotis one ? How did you support the far end of the bracket ? I can't tell from the photo angle.

Finally, can I ask the forum for a favor ? Is it possible for someone to convert Tyberius' bracket CAD drawings and the RX-64 CAD to .OBJ format ? That would make it SO much easier for me to plagarize all these great ideas. :veryhappy: The RX-64 and standard bracket drawings are availble from http://www.robotis.com/zbxe/?mid=software_en&category=7488&document_srl=5429

I've given up on having a Mech Warfare entry for this year. I believe that if I work consistently over the next year I can compete in 2010.

Thanks very much,
CogswellCogs

DresnerRobotics
03-06-2009, 10:43 PM
All of it is 2mm 5052 Aluminum. Was waterjet cut and bent courtesy of Big Blue Saw. (http://www.bigbluesaw.com)

All of the brackets you'll see are custom with the exception of the RX-28 ones for the pan/tilt (haven't taken pictures of that yet).

What program uses .OBJ? I can see if Inventor can export in that format.

DresnerRobotics
03-06-2009, 10:57 PM
First leg is pretty much done, here are some progress pics. Still need to add the rear knee 'horn'.

Leg stands about 18" tall fully extended. Overall height of the robot will be about 26".

CogswellCogs
03-06-2009, 11:22 PM
.OBJ seems like a pretty common format. I'm interested in it because MS Robotics Studio can import .OBJ and the pro version of Sketchup can also use it.

The leg is really impressive. How many DOF will the completed robot have ?

DresnerRobotics
03-06-2009, 11:27 PM
16DOF total, 7 in each leg and 2 for pan/tilt.

Adrenalynn
03-07-2009, 12:27 AM
OBJ is more of a 3D rendering format than a CAD format. I'll see if I have the software installed on this machine to get a conversion going for you. If not, the machine upstairs does (but is presently disconnected)

DresnerRobotics
03-07-2009, 11:36 PM
Some progress. Legs still need to be wired completely and have the 'rear knee horns' added for looks.

Oh and the whole upper torso, electronics, and programming thing :p

GWJax
03-08-2009, 12:11 AM
Simply a Huge Gorgeous Mech. Great work Tyb. I can't wait to see the final Mech in action.

Jax

Adrenalynn
03-08-2009, 01:40 AM
You, like me, are just a pawn of SkyNet

kwan
03-08-2009, 08:01 AM
That's looking fantastic Tyb.

Love the 2 pronged toes. All the better for KILLING with eh?

DresnerRobotics
03-09-2009, 12:48 AM
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka.jpg


Please excuse the messy desk, was a long weekend =)

Quantum
03-09-2009, 12:58 AM
That is ridiculously ridiculous. I love it.

You should have made it just a little bigger so you could sit on top of it.

Great work man can't wait to see some video.

Paul

billyzelsnack
03-09-2009, 09:07 AM
Very cool. Just wondering.. With those fancy servos and metal brackets is there any slop or bending at all? For instance.. With the Bioloid humanoid you can grab his foot and move it around quite a bit ( powered or not ) and have it result in the motors in the hip servos not rotating at all.

DresnerRobotics
03-09-2009, 09:52 AM
I haven't powered on more than one servo at a time at this point, but I can tell you there is no slop at all from what I have seen on the individual servos.

darkback2
03-09-2009, 10:41 AM
At $200 + a pop there should be no slop...those servos should go where you tell them and stay there as far as I'm concerned.

Seriously...looks really cool. Charlie's guns itch just having a look.

The cockpit looks a little big though :p ...are you going to wrap those skinny legs in armor or what?

DB

DresnerRobotics
03-09-2009, 10:52 AM
Yes, the legs are going to be paneled with armor as well... however torso isn't too big, its built exactly to scale from this render. Legs are also fully extended right now, as thats the only way I can get it to stand up without power, makes em look thinner.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/ms_lp_vulture_maddog.jpg

Adrenalynn
03-09-2009, 01:12 PM
That's just sick. SkyNet thanks you. ;)

darkback2
03-09-2009, 02:25 PM
Dude...that thing is freeking sweet. It makes me hungry...or jelous...or both.

DB

MSK Mech Commander
03-11-2009, 11:42 AM
Simply awsome, but shouldn't there be a size limit? That could be an unfair advantage, unless of course, it tips over? You know what they say, the bigger they are, the harder they fall...;)

Adrenalynn
03-11-2009, 11:45 AM
There is a size limit. The box is limited in height. "Unfair advantage?" How do you figure? Did someone tell you you can't build one the same height as his? Who told you that?

gdubb2
03-11-2009, 12:03 PM
That thing will be large.. sweet, and a bigger target. I love it. Actually size presents no real advantage, since we will all have the same size target plates to shoot at. I've already made the necessary changes to allow for shooting at things higher up..

Gary

Obscene
03-11-2009, 01:24 PM
If you're someone using a quad or like-robot with a low CoG, you could pop-a-squat right infront of Hagetaka and send him sprawling then go to town on his targets.

DresnerRobotics
03-11-2009, 03:26 PM
Size and weight doesn't really play a huge roll in this competition, so I don't see it creating an unfair advantage. When all is said and done, I've only slightly increased my payload past that of a quadrapod, at the cost of being much larger and harder to maneuver. It would be unfair if the object of this competition were to ram people are try to flip them over, but this is not Battlebots. The primary intention is to shoot each other and score hits against their target plates, not knock the enemy mech over.

In fact after building this mech, the 5kg weight limit I arbitrarily set seems a bit silly. Mine will weigh in at close to 4.5kg when all is said and done, and is no way 'dangerous'. The only way bots even get this heavy is from using high end servos, so I might very well just remove the weight limit entirely and put something like, say a 36" height limit on it and call it good.

billyzelsnack
03-11-2009, 09:15 PM
36" is close enough to 1 meter it might as well be a 1 meter limit.

Obscene
03-12-2009, 12:11 AM
Hey Tyb, if you don't mind me asking, what are your plans for the smaller black prototype of the Hagetaka chassis? I wouldn't mind getting my hands on something like that to use for a AX-12 mech.

Also, do you think the AX-12's would be able to handle the weight involved with that chassis and other electronics?

DresnerRobotics
03-23-2009, 12:43 AM
Hey Tyb, if you don't mind me asking, what are your plans for the smaller black prototype of the Hagetaka chassis? I wouldn't mind getting my hands on something like that to use for a AX-12 mech.

Also, do you think the AX-12's would be able to handle the weight involved with that chassis and other electronics?

Not sure at this point, I have a Mechdar system mounted on it for the time being. I'd be more than happy to share the .DXF files with you though, it was quite inexpensive to have Pololu lasercut it from ABS.


I've had a few holdups and redesigns, waiting on some more parts to show up this week. Here's a bit of progress though:

Wifi Video Server:
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010014_859974.jpg


Some wire management using nylon cable sleeving:
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010022_716600.jpg



And here is the adjustable stand I put together for maintenance and walking gait development:
http://forums.trossenrobotics.com/gallery/files/1/4/9/2/p1010018_409948.jpg

Adrenalynn
03-23-2009, 12:15 PM
Heya, Tybs - that's not a pin-hole. :)

You have the pigtails for that camera, right?

DresnerRobotics
03-23-2009, 12:57 PM
I know, some yahoo's website told me it was a pinhole :P

Yeah I have the pigtails for it, BNC to boot!

Adrenalynn
03-23-2009, 01:03 PM
GoodGood. Just makin' sure.

sthmck
03-23-2009, 02:01 PM
I was wondering about that camera/encoder setup. What is the output from the camera and how does it interface with the encoder.

Adrenalynn
03-23-2009, 03:07 PM
Output from the camera is NTSC video over a pigtail to a Female BNC.

Input to the encoder is NTSC to Female BNC. They need a small jumper cable with a Male BNC on each end in between them.

That's top-notch stuff in that photo. Be sitting down before you ask for pricing. ;)

Obscene
03-23-2009, 05:05 PM
The server is the expensive part I'm sure. I was looking at a similar camera, but maybe something a little cheaper. Does Sony make all of these camera's, basically?

Adrenalynn
03-23-2009, 05:27 PM
They make the best chipsets. They don't make any security cameras. They make chipsets and they slap their name on a line of otherwise-not-Sony security cameras. The other major chipset player is Panasonic.

Sony is by far and away better.

That camera he has there is pretty top of the line. That has the Ex-View chipset, not the HAD.

DresnerRobotics
04-02-2009, 12:44 AM
Internal electronics, camera, and battery are mounted. Next step is wiring it up and attaching the airsoft weapons.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hage1.jpg


http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hage3.jpg


http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hage2.jpg

Quantum
04-02-2009, 01:00 AM
That is just sick. You just need to cover it in radar resistant material.

Paul

elios
04-03-2009, 12:23 AM
wow!! that is awesome! im starting to save again for bits for my bot. got the scout chassis, now i need some leg components and servos.... waiting until the price for parts comes down again...! lol! very expensive over here (nz) when the currency inflates... lol!

MSpurk
04-03-2009, 06:54 PM
Looks sharp Tyb.

I'm pretty sure this is somewhere else in this thread, but how tall is it?

-Matt-
Cutting-Edge Robotics

DresnerRobotics
04-03-2009, 07:16 PM
It's about 26" standing fully upright.

Currently weighs 4.2kg

MSK Mech Commander
04-05-2009, 12:53 PM
There is a size limit. The box is limited in height. "Unfair advantage?" How do you figure? Did someone tell you you can't build one the same height as his? Who told you that?

My wallet.:D Although you're right, somehow. Anyway, I figure a smaller target should be harder to hit. It'll still be fun regardless.

DresnerRobotics
04-11-2009, 10:18 PM
Electronics are all wired up, guns semi-mounted. Still need to paint the guns and mount them completely.

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka-12.jpg

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka-21.jpg

DresnerRobotics
04-12-2009, 06:09 PM
Simple video just showing the bot in 3D :)

YouTube - Hagetaka

Adrenalynn
04-12-2009, 10:28 PM
Yeah, but does it walk? :P

DresnerRobotics
04-13-2009, 02:25 AM
Standing under it's own power:

http://forums.trossenrobotics.com/gallery/files/1/4/9/2/hagetaka-4.jpg

darkback2
04-13-2009, 10:17 AM
Congratulations! Can't wait to see it walk.

coreyfro
04-13-2009, 01:33 PM
:sad::sad::sad::sad::sad::sad::sad::sad: I want your job!


Standing under it's own power:

Bullit
04-13-2009, 01:49 PM
Hey, hey, he's preparing for his child's future and the downfall of the human race all while holding down a job at Trossen.

How do you know his child isn't just another one of his robot projects? He just hasn't revealed it yet.

lol

DresnerRobotics
04-13-2009, 01:54 PM
Hey, hey, he's preparing for his child's future and the downfall of the human race all while holding down a job at Trossen.

How do you know his child isn't just another one of his robot projects? He just hasn't revealed it yet.

lol


Look at it this way, I don't have to worry about paying for her college if robots have taken over the world, right? LOL

Adrenalynn
04-13-2009, 02:18 PM
As long as it's your robots that have taken over the world, and not, say, Bullit's. And I know who I'm betting on in a robot dual to the death. :tongue:

DresnerRobotics
05-08-2009, 09:38 AM
After a number of set backs, Bullit swooped in and saved the day and got the Gumstix controller bluetooth up and running. Thanks Bullit!

Here is a little bit of progress: YouTube - Hagetaka Aiming demo

darkback2
05-08-2009, 09:49 AM
Cool motion...
I like the range of motion you seem tp be getting out of your pan tilt.
How are you compensating for the shift in COG when the torso moves around?

DB

DresnerRobotics
05-08-2009, 10:05 AM
Cool motion...
I like the range of motion you seem tp be getting out of your pan tilt.
How are you compensating for the shift in COG when the torso moves around?

DB


Actually, that's only about half of the pan range. It does a full 300 degrees, I can nearly fire behind me.

Eventually I will be compensating for the shift in COG using the IMU data/Balance engine that the Farrells have developed. For year 1, I won't be running and gunning.

gdubb2
05-08-2009, 10:30 AM
OK - you got my attention now..Excellent movements.

Hagetaka is becomming a force to be reckoned with..good job
Gary

Zenta
05-09-2009, 12:10 AM
Wow! Excellent progress Tyberius! Nice movements.

How satisfied are you with the precision from the analog sticks of the playstation controller?

Looking forward to its first step!
-Zenta

DresnerRobotics
05-09-2009, 08:30 AM
They are much more accurate than my experience with a standard PS2 controller. I'm using the PS3 SixAxis.

elios
05-09-2009, 10:53 PM
nice, you need to have a directional indicator so you can see which way the torso is pointing, and which direction the legs are pointing, so you dont accidentally walk into a building while aiming for an alley way.... lol